How to achieve this bending motion for a changeable curvature mechanism?

[biscuit122]

https://drive.google.com/file/d/1lYcM_R ... sp=sharing

Do you guys know how to achieve this bending motion for a changeable curvature mechanism in the mentioned video?

[coppelia]

Hello,

if this needs to be kinematically simulated, then you could simply use revolute joints in passive mode mounted as:

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base --> joint1 --> joint2 --> shape1 --> joint3 --> joint4 --> shape2 --> etc.

if this needs to be dynamically dimulated, then use revolute joints in force/torque mode mounted as:

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base --> joint1 --> auxShape1 --> joint2 --> shape1 --> joint3 --> auxShape2 --> joint4 --> shape2 --> etc.

Consecutive joints should be mountd perpendicular to each other.

Cheers